Package level pydoc for smartbot_irl.utils

smartbot_irl#

Functions#

smartbot_irl.SmartBot

Factory that returns a SmartBotReal or SmartBotSim instance.

Classes#

`smartbot_irl.SensorData`	Container for all SmartBot sensor topics.
`smartbot_irl.Command`	High-level command for SmartBot.

Function Details#

smartbot_irl.SmartBot(mode: Literal['real'], drawing: bool = False, **kwargs) → SmartBotReal[source]#
smartbot_irl.SmartBot(mode: Literal['sim'], drawing: bool = False, **kwargs) → SmartBotSim: Factory that returns a SmartBotReal or SmartBotSim instance.

Class Details#

class smartbot_irl.SensorData[source]#

Bases: object

Container for all SmartBot sensor topics. Each field starts as None and becomes a populated message object (LaserScan, Odometry, etc.) once that topic is received.

classmethod initialized()[source]#

Return a new SensorData with all message objects constructed using their default constructors. Useful for simulation environments where we don’t wait for ROS topics to populate.

Return type:: SensorData

flatten()[source]#

Return a partially flattened dict of all sensor fields.

Return type:: dict

to_ros()[source]#

Convert only populated fields to ROS-like dicts.

Return type:: dict

class smartbot_irl.Command(wheel_vel_left=None, wheel_vel_right=None, linear_vel=None, angular_vel=None, gripper_closed=None, manipulator_presets=None)[source]#

Bases: object

High-level command for SmartBot.

Supports both:

Differential drive control (linear + angular velocity)
Direct wheel velocity control (left/right)
Manipulator preset and gripper control

Parameters:

wheel_vel_left (float | None)
wheel_vel_right (float | None)
linear_vel (float | None)
angular_vel (float | None)
gripper_closed (bool | None)
manipulator_presets (str | None)